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Sudden stop for critical issues, filtered deceleration otherwise #1468
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@jschleicher give it a review, if you please |
What about the check in the main loop, if a zero velocity command is received? https://github.com/ros-planning/moveit/blob/7f142291ccd8c7f203a4427e6353e3a950d09314/moveit_experimental/jog_arm/src/jog_arm/jog_calcs.cpp#L135 Recording a bag file shows several unexpected behaviours: |
The filter type used here is known to overshoot. It could be simplified to a first-order filter that apparently doesn't have overshoot. https://dankelley.github.io/r/2014/01/15/butterworth-filters.html |
Maybe a new ros parameter could be used in the |
I'll make an issue for that. |
If I understand right, the last velocity command is sometimes non-zero if Here's a fix for that. (I did test it) |
Exactly. Your fix works for me. |
@henningkayser @BryceStevenWilley @felixvd Can I get a review please? Not sure where my 'Assign Reviewers' button went |
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LGTM, though this isn't my expertise.
@henningkayser @felixvd Ping I'd appreciate, if this could be merged. |
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Approving formally, assuming that functionality was approved by @jschleicher.
…eit#1468) Use special suddenHalt() function to stop at critical issues. Otherwise, e.g. if no new commands are received, use filtered deceleration.
…eit#1468) Use special suddenHalt() function to stop at critical issues. Otherwise, e.g. if no new commands are received, use filtered deceleration.
Description
A suddenHalt() function for critical issues like joint limits. Otherwise, decelerations are low-pass filtered.
Checklist